Implement NetworkTables (#95)

* Implement NetworkTables stuff

* Update RequestHandler.java

* run spotless

* Address review

* fix comments and cleanup more

photon-server/src/main/java/org/photonvision/Main.java

@@ -168,8 +168,10 @@ public class Main {
         }
 
         ConfigManager.getInstance(); // init config manager
-        NetworkManager.getInstance().initialize(false); // basically empty. todo: link to ConfigManager?
-        NetworkTablesManager.setClientMode("127.0.0.1");
+        NetworkManager.getInstance().initialize(false);
+
+        NetworkTablesManager.getInstance()
+                .setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
 
         HashMap<VisionSource, List<CVPipelineSettings>> allSources = gatherSources();
 

photon-server/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -22,7 +22,7 @@ import java.util.Map;
 import org.photonvision.common.networking.NetworkMode;
 
 public class NetworkConfig {
-    public int teamNumber = 1;
+    public int teamNumber = -1;
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String staticIp = "";
     public String netmask = "";

photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -30,7 +30,7 @@ import org.photonvision.vision.pipeline.result.SimplePipelineResult;
 
 public class NTDataPublisher implements CVPipelineResultConsumer {
 
-    private final NetworkTable rootTable = NetworkTablesManager.kRootTable;
+    private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
     private NetworkTable subTable;
     private NetworkTableEntry rawBytesEntry;
 

photon-server/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -21,30 +21,32 @@ import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.function.Consumer;
-import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.scripting.ScriptEventType;
 import org.photonvision.common.scripting.ScriptManager;
 
-// TODO refactor this to be a singleton
 public class NetworkTablesManager {
 
-    private NetworkTablesManager() {}
+    private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
+    private final String kRootTableName = "/photonvision";
+    public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
+
+    private NetworkTablesManager() {
+        ntInstance.addLogger(new NTLogger(), 0, 255); // to hide error messages
+    }
+
+    private static NetworkTablesManager INSTANCE;
+
+    public static NetworkTablesManager getInstance() {
+        if (INSTANCE == null) INSTANCE = new NetworkTablesManager();
+        return INSTANCE;
+    }
 
     private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);
 
-    private static final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
-
-    public static final String kRootTableName = "/photonvision";
-    public static final NetworkTable kRootTable =
-            NetworkTableInstance.getDefault().getTable(kRootTableName);
-
-    public static boolean isServer = false;
-
-    private static int getTeamNumber() {
-        return ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber;
-    }
+    public boolean isServer = false;
 
     private static class NTLogger implements Consumer<LogMessage> {
 
@@ -66,32 +68,29 @@ public class NetworkTablesManager {
         }
     }
 
-    static {
-        NetworkTableInstance.getDefault().addLogger(new NTLogger(), 0, 255); // to hide error messages
-    }
-
-    public static void setClientMode(String host) {
-        isServer = false;
-        logger.info("Starting NT Client");
-        ntInstance.stopServer();
-        if (host != null) {
-            ntInstance.startClient(host);
+    public void setConfig(NetworkConfig config) {
+        if (config.teamNumber > 0) {
+            setClientMode(config.teamNumber);
         } else {
-            ntInstance.startClientTeam(getTeamNumber());
-            if (ntInstance.isConnected()) {
-                logger.info("[NetworkTablesManager] Connected to the robot!");
-            } else {
-                logger.info(
-                        "[NetworkTablesManager] Could NOT to the robot! Will retry in the background...");
-            }
+            setServerMode();
         }
     }
 
-    public static void setTeamClientMode() {
-        setClientMode(null);
+    private void setClientMode(int teamNumber) {
+        isServer = false;
+        logger.info("Starting NT Client");
+        ntInstance.stopServer();
+
+        ntInstance.startClientTeam(teamNumber);
+        if (ntInstance.isConnected()) {
+            logger.info("[NetworkTablesManager] Connected to the robot!");
+        } else {
+            logger.error(
+                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
+        }
     }
 
-    public static void setServerMode() {
+    private void setServerMode() {
         isServer = true;
         logger.info("Starting NT Server");
         ntInstance.stopClient();

photon-server/src/main/java/org/photonvision/common/networking/NetworkManager.java

@@ -17,7 +17,6 @@
 
 package org.photonvision.common.networking;
 
-import java.io.IOException;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
@@ -59,10 +58,12 @@ public class NetworkManager {
                 try {
                     new ShellExec()
                             .executeBashCommand("ip addr add " + config.staticIp + "/24" + " dev eth0");
-                } catch (IOException e) {
+                } catch (Exception e) {
                     e.printStackTrace();
                 }
             }
+        } else {
+            logger.info("Not managing network on non-Linux platforms");
         }
     }
 

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -77,7 +77,7 @@ public class RequestHandler {
         ConfigManager.getInstance().setNetworkSettings(networkConfig);
         ConfigManager.getInstance().requestSave();
         NetworkManager.getInstance().reinitialize();
-        NetworkTablesManager.setClientMode(null); // TODO
+        NetworkTablesManager.getInstance().setConfig(networkConfig);
 
         logger.info("Responding to general settings with http 200");
         context.status(200);